Restricting nodes for lower level actions

[Jailander]

The new topological framework will allow the restriction of access to some nodes, however, we need to be able to pass this information to lower level action like move_base.

[Jailander]

It might be possible to create a move base costmap layer that takes into account topological restictions for the move_base specific case

[Jailander]

@francescodelduchetto found this repo that might do the work for us https://github.com/h-wata/costmap_prohibition_layer we just need to look into the configuration

[francescodelduchetto]

I did a quick test and you can simply publish the areas you want to limit to this topic /move_base/global_costmap/costmap_prohibition_layer/prohibition_areas_update once this plugin is added to the move base costmap configuration.

I will send a PR with a possible implementation of this to block no-go nodes.

[francescodelduchetto]

@Jailander Do we want this restriction at lower levels being done only for no-go areas or also for the other restrictions defined in the map? Given that dealing with map restrictions has not been implemented yet, from what I can see, I was wondering how will that be managed.